INS/GPS Integration System using Adaptive Filter for Estimating Measurement Noise Variance

The inertial navigation system (INS)/GPS integration system is designed by employing an adaptive filter that can estimate measurement noise variance using the residual of the measurement. To verify the efficiency of the proposed loosely-coupled INS/GPS integration system, simulations were performed by assuming that GPS information has large position errors. The simulation results show that the proposed integration system with the adaptive filter is more effective in estimating the position and attitude errors than a system that uses the extended Kalman filter.